/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * File Name          : freertos.c
  * Description        : Code for freertos applications
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */

/* USER CODE END Variables */
/* Definitions for defaultTask */
osThreadId_t defaultTaskHandle;
const osThreadAttr_t defaultTask_attributes = {
  .name = "defaultTask",
  .stack_size = 128 * 4,
  .priority = (osPriority_t) osPriorityNormal,
};
/* Definitions for INS */
osThreadId_t INSHandle;
const osThreadAttr_t INS_attributes = {
  .name = "INS",
  .stack_size = 512 * 4,
  .priority = (osPriority_t) osPriorityLow,
};
/* Definitions for LOG */
osThreadId_t LOGHandle;
const osThreadAttr_t LOG_attributes = {
  .name = "LOG",
  .stack_size = 128 * 4,
  .priority = (osPriority_t) osPriorityLow,
};
/* Definitions for Init */
osThreadId_t InitHandle;
const osThreadAttr_t Init_attributes = {
  .name = "Init",
  .stack_size = 512 * 4,
  .priority = (osPriority_t) osPriorityHigh,
};
/* Definitions for LCD */
osThreadId_t LCDHandle;
const osThreadAttr_t LCD_attributes = {
  .name = "LCD",
  .stack_size = 512 * 4,
  .priority = (osPriority_t) osPriorityLow,
};
/* Definitions for myTask06 */
osThreadId_t myTask06Handle;
const osThreadAttr_t myTask06_attributes = {
  .name = "myTask06",
  .stack_size = 512 * 4,
  .priority = (osPriority_t) osPriorityLow,
};
/* Definitions for myTask07 */
osThreadId_t myTask07Handle;
const osThreadAttr_t myTask07_attributes = {
  .name = "myTask07",
  .stack_size = 512 * 4,
  .priority = (osPriority_t) osPriorityLow,
};
/* Definitions for myTask08 */
osThreadId_t myTask08Handle;
const osThreadAttr_t myTask08_attributes = {
  .name = "myTask08",
  .stack_size = 512 * 4,
  .priority = (osPriority_t) osPriorityLow,
};

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */

/* USER CODE END FunctionPrototypes */

void StartDefaultTask(void *argument);
extern void INS_TASK(void *argument);
extern void Chassis(void *argument);
extern void init(void *argument);
extern void LCD_TASK(void *argument);
extern void Claw(void *argument);
extern void AMotor(void *argument);
extern void maincc(void *argument);

extern void MX_USB_DEVICE_Init(void);
void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

/**
  * @brief  FreeRTOS initialization
  * @param  None
  * @retval None
  */
void MX_FREERTOS_Init(void) {
  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* USER CODE BEGIN RTOS_MUTEX */
  /* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* USER CODE BEGIN RTOS_SEMAPHORES */
  /* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
  /* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* USER CODE BEGIN RTOS_QUEUES */
  /* add queues, ... */
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
  /* creation of defaultTask */
  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);

  /* creation of INS */
  INSHandle = osThreadNew(INS_TASK, NULL, &INS_attributes);

  /* creation of LOG */
  LOGHandle = osThreadNew(Chassis, NULL, &LOG_attributes);

  /* creation of Init */
  InitHandle = osThreadNew(init, NULL, &Init_attributes);

  /* creation of LCD */
  LCDHandle = osThreadNew(LCD_TASK, NULL, &LCD_attributes);

  /* creation of myTask06 */
  myTask06Handle = osThreadNew(Claw, NULL, &myTask06_attributes);

  /* creation of myTask07 */
  myTask07Handle = osThreadNew(AMotor, NULL, &myTask07_attributes);

  /* creation of myTask08 */
  myTask08Handle = osThreadNew(maincc, NULL, &myTask08_attributes);

  /* USER CODE BEGIN RTOS_THREADS */
  /* add threads, ... */
  /* USER CODE END RTOS_THREADS */

  /* USER CODE BEGIN RTOS_EVENTS */
  /* add events, ... */
  /* USER CODE END RTOS_EVENTS */

}

/* USER CODE BEGIN Header_StartDefaultTask */
/**
  * @brief  Function implementing the defaultTask thread.
  * @param  argument: Not used
  * @retval None
  */
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void *argument)
{
  /* init code for USB_DEVICE */
  MX_USB_DEVICE_Init();
  /* USER CODE BEGIN StartDefaultTask */
  /* Infinite loop */
  for(;;)
  {
    osDelay(1);
  }
  /* USER CODE END StartDefaultTask */
}

/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */

/* USER CODE END Application */

